apollo::perception::msg::MsgExporter类 参考

#include <msg_exporter.h>

apollo::perception::msg::MsgExporter 的协作图:

Public 类型
typedef apollo::drivers::Image	ImgMsg
typedef apollo::drivers::PointCloud	PcMsg

Public 成员函数
	MsgExporter (std::shared_ptr< apollo::cyber::Node > node, const std::vector< std::string > channels, const std::vector< std::string > child_frame_ids)
	~MsgExporter ()=default

详细描述

在文件 msg_exporter.h 第 38 行定义.

成员类型定义说明

ImgMsg

typedef apollo::drivers::Image apollo::perception::msg::MsgExporter::ImgMsg

在文件 msg_exporter.h 第 40 行定义.

PcMsg

typedef apollo::drivers::PointCloud apollo::perception::msg::MsgExporter::PcMsg

在文件 msg_exporter.h 第 41 行定义.

构造及析构函数说明

MsgExporter()

apollo::perception::msg::MsgExporter::MsgExporter	(	std::shared_ptr< apollo::cyber::Node >	node,
		const std::vector< std::string >	channels,
		const std::vector< std::string >	child_frame_ids
	)

在文件 msg_exporter.cc 第 36 行定义.

                                                                     {
  _cyber_node = node;
  _channels = channels;
  _child_frame_ids = child_frame_ids;
  // _localization_method = "perception_localization_100hz";
  _localization_method = "novatel";
  auto create_folder = [](const std::string& folder) {
    if (cyber::common::DirectoryExists(folder)) {
      cyber::common::DeleteFile(folder);
    }
    cyber::common::CreateDir(folder);
  };
  // bind channels
  for (std::size_t i = 0; i < _channels.size(); ++i) {
    const auto& channel = _channels[i];
    const auto& child_frame_id = _child_frame_ids[i];
    std::string folder = TransformChannelToFolder(channel);
    if (IsLidar(channel)) {
      _cyber_node->CreateReader<PcMsg>(
          channel,
          std::bind(&MsgExporter::PointCloudMessageHandler, this,
                    std::placeholders::_1, channel, child_frame_id, folder));
      create_folder(folder);
      std::cout << "Bind lidar channel: " << channel << std::endl;
    } else if (IsCamera(channel)) {
      _cyber_node->CreateReader<ImgMsg>(
          channel,
          std::bind(&MsgExporter::ImageMessageHandler, this,
                    std::placeholders::_1, channel, child_frame_id, folder));
      create_folder(folder);
      std::cout << "Bind camera channel: " << channel << std::endl;
    } else {
      std::cout << "Unknown channel type: " << channel << std::endl;
    }
  }
}

~MsgExporter()

apollo::perception::msg::MsgExporter::~MsgExporter ( )

default

---

该类的文档由以下文件生成:

• modules/perception/tools/exporter/msg_exporter.h
• modules/perception/tools/exporter/msg_exporter.cc